Re: Combining RTAB-Map with the navigation stack

Posted by icolwell on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Combining-RTAB-Map-with-the-navigation-stack-tp1171p1187.html

Hi Mathieu, thanks for the quick reply!

I was able to try your suggestions on the robot today but unfortunately no luck.

1) I changed "RGBD/OptimizeFromGraphEnd" from true to false and it seemed to help. It was still updating as you explained in b) but things are better now. I also saved the map in map saver and then served that into move_base and it worked pretty well for a static map. Only problem is the map saver saves the big shape as discussed in question 2.

2) I was building from source but hadn't updated for a while. I updated both rtabmap and rtabmap_ros and rebuilt but the shape was still there. Then I deleted ~/rtabmap and ~/catkin_ws/src/rtabmap_ros and followed the steps in the readme at https://github.com/introlab/rtabmap_ros and re-built it all. Still the strange shape appeared, I am using the following ROS package for the laser scanner: http://wiki.ros.org/hokuyo_node

I'm not sure how to proceed on question 2, is there a better way to "purge" rtabmap from the system to be 100% sure I am building the latest source?

Thanks for taking the time to answer my questions!